CN207902745U - Unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle Download PDFInfo
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- CN207902745U CN207902745U CN201721920971.3U CN201721920971U CN207902745U CN 207902745 U CN207902745 U CN 207902745U CN 201721920971 U CN201721920971 U CN 201721920971U CN 207902745 U CN207902745 U CN 207902745U
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- NOQGZXFMHARMLW-UHFFFAOYSA-N Daminozide Chemical group CN(C)NC(=O)CCC(O)=O NOQGZXFMHARMLW-UHFFFAOYSA-N 0.000 claims description 47
- 230000015654 memory Effects 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 4
- 230000009187 flying Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The application discloses unmanned vehicles, this unmanned vehicles includes: the fuselage main body comprises a first wing part and a second wing part which are symmetrically arranged and extend outwards; a first rotor provided at the first wing portion; a second rotor provided at the second wing part; the first steering engine is arranged on the first wing part, is connected with the first rotor wing and is used for controlling the deflection of a rotating shaft of the first rotor wing; and the second steering engine is arranged at the second wing part and connected with the second rotor wing and used for controlling the deviation of the rotating shaft of the second rotor wing. In this way, the problem of inconvenient carrying and the difficult problem of control that the great size of the present many rotor crafts who adopts four or more than four rotors brought can be solved in this application.
Description
Technical field
This application involves unmanned flight's technical fields, more particularly to a kind of unmanned vehicle.
Background technology
UAV referred to as " unmanned plane ", is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft.Unmanned plane is actually the general designation of unmanned vehicle, can be divided into from technical standpoint definition：Nobody is straight
The machine of liter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol this several major class.
Current multi-rotor aerocraft is usually all to possess four or more rotor.As this kind of more rotor flyings
Device, the rotor generally possessed is more, and size also can be correspondingly bigger, it has not been convenient to carry；And control system can also become more complicated,
Cost also can correspondingly increase.
Utility model content
The application can solve existing to use four or four mainly solving the technical problems that provide a kind of unmanned flight
The difficult problem of the larger problem and control inconvenient to carry brought of the multi-rotor aerocraft size of a above rotor.
In order to solve the above technical problems, the technical solution that the application uses is：Unmanned vehicle is provided, nobody flies for this
Row device includes：Fuselage main body, including symmetrically arranged outwardly extending first alar part and the second alar part；First rotor, setting exist
First alar part；Second rotor is arranged in second alar part；First steering engine, setting is in first alar part, described in connection
First rotor, the deviation of the shaft for controlling first rotor；Second steering engine, setting connect institute in second alar part
The second rotor is stated, the deviation of the shaft for controlling second rotor.
The advantageous effect of the application is：The case where being different from the prior art, a kind of unmanned vehicle of the application offer include：
Fuselage main body, including symmetrically arranged outwardly extending first alar part and the second alar part；First rotor is arranged in first wing
Portion；Second rotor is arranged in second alar part；First steering engine, setting connect first rotor in first alar part,
Deviation for the shaft for controlling first rotor；Second steering engine, setting is in second alar part, connection second rotation
The wing, the deviation of the shaft for controlling second rotor.By the above-mentioned means, the cooperation work of steering engine and rotor can be passed through
Make, when making unmanned vehicle two rotors work, height and the direction of aircraft can be adjusted, solves and existing use four
The larger problem and control inconvenient to carry brought of the multi-rotor aerocraft size of a or more than four rotors is difficult to ask
Topic.
Description of the drawings
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present application, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.Wherein：
Fig. 1 is the structural schematic diagram of one embodiment of unmanned vehicle provided by the present application；
Fig. 2 is the structural schematic diagram of side rotor in one embodiment of unmanned vehicle provided by the present application；
Fig. 3 is structural representation of the side rotor under servo driving in one embodiment of unmanned vehicle provided by the present application
Figure；
Fig. 4 is the structural schematic diagram of the first rotor in one embodiment of unmanned vehicle provided by the present application；
Fig. 5 is the structural schematic diagram of another embodiment of unmanned vehicle provided by the present application；
Fig. 6 is the structural schematic diagram of the another embodiment of unmanned vehicle provided by the present application；
Fig. 7 is the control signal flow diagram in the another embodiment of unmanned vehicle provided by the present application.
Specific implementation mode
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation describes.It is understood that specific embodiment described herein is only used for explaining the application, rather than the limit to the application
It is fixed.It also should be noted that illustrating only for ease of description, in attached drawing and the relevant part of the application and not all knot
Structure.Based on the embodiment in the application, those of ordinary skill in the art are obtained without creative efforts
Every other embodiment, shall fall in the protection scope of this application.
Term " first ", " second " in the application etc. be for distinguishing different objects, rather than it is specific suitable for describing
Sequence.In addition, term " comprising " and " having " and their any deformations, it is intended that cover and non-exclusive include.Such as comprising
The step of process of series of steps or unit, method, system, product or equipment are not limited to list or unit, and
It further includes the steps that optionally not listing or unit to be, or further includes optionally for these processes, method, product or equipment
Intrinsic other steps or unit.
Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments
It is contained at least one embodiment of the application.Each position in the description occur the phrase might not each mean it is identical
Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and
Implicitly understand, embodiment described herein can be combined with other embodiments.
It should be understood that horizontal plane described in the application refers to lying in a horizontal plane in bottom surface in unmanned vehicle or horizontal flying
It is described for the directionality of reference when row.
Refering to fig. 1, Fig. 1 is the structural schematic diagram of one embodiment of unmanned vehicle provided by the present application, the unmanned vehicle
Including fuselage main body 10, the first rotor 21, the second rotor 22, the first steering engine 31 and the second steering engine 32.
Wherein, fuselage main body 10 includes symmetrically arranged 11 and second alar part 12 of outwardly extending first alar part.First rotation
Wing setting 21 is in first alar part 11；Second rotor 22 is arranged in second alar part 12.Optionally, the first alar part 11 and
Two alar parts 12 are symmetrical set, and the first rotor 21 and the second rotor 22 can also be called the left-handed wing and the dextrorotation wing.
Optionally, the first alar part 11 and the second alar part 12 can be integrally formed with fuselage main body 10, can also be list
It solely makes, is connect with fuselage main body 10 by modes such as screws.Wherein, the first alar part 11 and the second alar part 12 can be and water
Plane is disposed in parallel, and the shape of the first alar part 11 and the second alar part 12 can be plate or the column of strip.
Wherein, the setting of the first steering engine 31 connects first rotor 21 in first alar part 11, for controlling described the
The deviation of the shaft of one rotor 21；The setting of second steering engine 32 connects second rotor 22, for controlling in second alar part 12
Make the deviation of the shaft of second rotor 22.
Furthermore it is also possible to include undercarriage 40, undercarriage 40 is arranged in the bottom of the fuselage main body 10, at nobody
When aircraft lands, contacted with ground.
It should be understood that the unmanned vehicle in the application is symmetrically arranged, therefore, in the following embodiments,
The rotor structure of side is described again, the rotor structure schematic illustration of the other side.
As shown in Fig. 2, the rotor structure of side further includes first motor 51, the rotor of first motor 51 connects the first rotor
21, for controlling the rotation of the first rotor 21, first steering engine 31 connects first motor 51, the rotor for controlling first motor 51
It is biased to.
In addition, further including the first rocking bar 61, first end connects first motor 51, and second end connects turning for the first steering engine 31
The middle part of son, the first rocking bar 61 is fixed in horizontal plane direction, so that the both ends of the first rocking bar 61 can shake around first in the horizontal plane
The middle part of bar 61 rotates.
Optionally, in conjunction with Fig. 2 and Fig. 3, first motor 51 is fixed on by a fixing axle 511 on the first alar part 11.When
When one steering engine 31 controls the deflection angle of rotor, the first rocking bar 61 follows one to play deflection, and then drives the deflection of first motor 51,
So that the deflection angle of the first rotor 21 changes.
It should be understood that the rotor structure of the other side further includes the second motor, the rotor of the second motor connects the second rotor,
For controlling the second rotor wing rotation, the second steering engine connects the second motor, the deviation of the rotor for controlling the second motor.In addition,
Further include the second rocking bar, first end connects the second motor, and second end connects the rotor of the second steering engine, and the middle part of the second rocking bar exists
Horizontal plane direction is fixed, so that the both ends of the second rocking bar can be rotated around the middle part of the second rocking bar in the horizontal plane.Wherein, the other side
The connection type and operation principles of rotor structure are similar with above-mentioned Fig. 2 and Fig. 3, and which is not described herein again.
Optionally, in the present embodiment, the rotation direction of first motor 51 and the second motor (not shown) is on the contrary, so that first
The rotation direction of rotor 21 and the second rotor 22 is opposite.In this way can give unmanned vehicle provide lift, with control unmanned plane to
Preceding flight.
It optionally, in another embodiment, can not also be this in such a way that such as Fig. 2 or Fig. 3 are by a fixing axle
Mode can only enable motor 51 deflect in two directions.For example, it is also possible to fixed using modes such as ball, universal shafts, so that
Motor 51 can in the horizontal plane 360 ° into horizontal deflection.
As shown in figure 4, optional, in the present embodiment, four blades may be used in the first rotor 21 and the second rotor 22
It is formed.Specifically, the first rotor 21 specifically include the first blade 211, the second blade 212, third blade 213 that are sequentially arranged with
And quaterfoil 214.Wherein, each blade is identical according to the direction of rotation of blade as the angle of inclination of horizontal plane.It is worth noting
, the inclined direction of the blade of the blade of the first rotor 21 and the second rotor 22 is opposite.
The case where being different from the prior art, the present embodiment provides a kind of unmanned vehicles to include：Fuselage main body, including it is symmetrical
Outwardly extending first alar part being arranged and the second alar part；First rotor is arranged in first alar part；Second rotor, setting
In second alar part；First steering engine, setting connect first rotor, for controlling described first in first alar part
The deviation of the shaft of rotor；Second steering engine, setting connect second rotor in second alar part, for controlling described the
The deviation of the shaft of two rotors.By the above-mentioned means, unmanned vehicle two can be made by the cooperating of steering engine and rotor
When a rotor work, height and the direction of aircraft can be adjusted, solves the existing rotor using four or more
The larger problem inconvenient to carry brought of multi-rotor aerocraft size and the difficult problem of control.
It is the structural schematic diagram of another embodiment of unmanned vehicle provided by the present application, the unmanned flight refering to Fig. 5, Fig. 5
Device includes fuselage main body 10, the first rotor 21, the second rotor 22, the first steering engine 31 and the second steering engine 32.
Wherein, fuselage main body 10 includes symmetrically arranged 11 and second alar part 12 of outwardly extending first alar part.First rotation
Wing setting 21 is in first alar part 11；Second rotor 22 is arranged in second alar part 12.Optionally, the first alar part 11 and
Two alar parts 12 are symmetrical set, and the first rotor 21 and the second rotor 22 can also be called the left-handed wing and the dextrorotation wing.
Wherein, the first alar part 21 includes the first extension 111 and the second extension 112, wherein the first extension 111 connects
Fuselage main body 10 is connect, 111 place plane of the first extension is prolonged horizontal by set angle, the second extension 112 connection first
Extending portion 111,112 place plane of the second extension are parallel with horizontal plane.For example, fuselage body 10 is rectangle, the first extension 111
It is set to outside the side wall of fuselage body 10, and set angle is formed with side wall, and the second extension 112 is horizontally disposed, i.e., with the
One extension 111 is in set angle.
It is the structural schematic diagram of the another embodiment of unmanned vehicle provided by the present application, the unmanned flight refering to Fig. 6, Fig. 6
Device include controller 61 and with control 61 motor 62, steering engine 63, sensor 64 and the memories 65 that connect.
With reference to embodiment above-mentioned, motor 62 and steering engine 63 in this implementation include two, i.e. first motor and second
Motor, the first steering engine and the second steering engine, the work for controlling the first rotor and the second rotor respectively, structure and above-described embodiment
Similar, which is not described herein again.
Wherein, controller 61 is specifically used for the rotating speed of control motor 62, and the deflection angle of control steering engine 63.
Wherein, flight parameter of the sensor 64 for obtaining unmanned vehicle in real time.
Optionally, sensor 64 is additionally operable to flight parameter being sent to controller 61, and controller 61 is additionally operable to according to flight
The state of flight of parameter regulation unmanned vehicle.
Wherein, memory 65 is for storing the target flight parameter planned in advance；Controller 61 is additionally operable to sensor 64
The flight parameter of acquisition is compared with target flight parameter, to adjust the state of flight of unmanned vehicle in real time.
It is the control signal flow diagram in the another embodiment of unmanned vehicle provided by the present application with additional reference to Fig. 7, Fig. 7.
Wherein sensor 64 further includes first sensor 641 and second sensor 642, wherein first sensor 641 is used for
The rotating speed of motor 62, the i.e. rotating speed of rotor are detected, second sensor 642 is used to detect the deflection angle of steering engine 63.
Memory 65 is previously stored with target flight parameter, and controller 61 is detected according to the first sensor 641 received
The rotating speed and the rotating speed in target flight parameter of motor 62 out carry out the rotating speed of regulation motor 62；Meanwhile controller 61 is also
The deflection direction in deflection direction and target flight parameter is detected according to the second sensor 642 received, to adjust
The output angle of steering engine 63, to change the direction of two rotors, so as to adjust the direction of motion of aircraft.By controlling above,
The operations such as lifting, translation, hovering, the rotation of aircraft may be implemented.
Further, target flight parameter includes target flight height and target flight direction.First sensor 641 can be with
It is the practical flight height for obtaining unmanned vehicle, controller 61 is specifically used for according to practical flight height and target flight
Highly, the rotating speed of motor 62 is controlled, to controlling the flying height of unmanned vehicle；Second sensor 642 can be used for
The actual flight direction of unmanned vehicle is obtained, controller 61 is specifically used for according to actual flight direction and target flight direction,
The output angle of steering engine 63 is controlled, to controlling the heading of unmanned vehicle.
Wherein, memory 65 can be USB flash disk, mobile hard disk, read-only memory (ROM), random access memory (RAM),
The various media that can store program data such as disk or CD.
In addition, can not also include memory 65 in the above embodiments, aircraft can receive remote from remote controler etc.
The target flight parameter that journey terminal sends over, which includes target flight height and target flight directions.
In addition, can also include battery, switch, holder and the camera being installed on holder on unmanned vehicle, use
In taking photo by plane, which is not described herein again.
The case where being different from the prior art includes passing through controller and sensing the present embodiment provides a kind of unmanned vehicle
The cooperation of device controls the flight of DCB Specimen unmanned vehicle, can make unmanned vehicle by the cooperating of steering engine and rotor
When carrying out the work of two rotors, height and the direction of aircraft can be adjusted, solve it is existing using four or more
The difficult problem of the larger problem and control inconvenient to carry brought of the multi-rotor aerocraft size of rotor.
The foregoing is merely presently filed embodiments, are not intended to limit the scope of the claims of the application, every to utilize this
Equivalent structure or equivalent flow shift made by application specification and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field includes similarly in the scope of patent protection of the application.
Claims (10)
1. a kind of unmanned vehicle, which is characterized in that including：
Fuselage main body, including symmetrically arranged outwardly extending first alar part and the second alar part；
First rotor is arranged in first alar part；
Second rotor is arranged in second alar part；
First steering engine, setting connect first rotor in first alar part, the shaft for controlling first rotor
It is biased to；
Second steering engine, setting connect second rotor in second alar part, the shaft for controlling second rotor
It is biased to.
2. unmanned vehicle according to claim 1, which is characterized in that
Further include first motor, the rotor of the first motor connects first rotor, for controlling the first rotor rotation
Turn, first steering engine connects the first motor, the deviation of the rotor for controlling the first motor；
Further include the second motor, the rotor of second motor connects second rotor, for controlling the second rotor rotation
Turn, second steering engine connects second motor, the deviation of the rotor for controlling second motor.
3. unmanned vehicle according to claim 2, which is characterized in that
Further include the first rocking bar, first end connects the first motor, and second end connects the rotor of first steering engine, described
The middle part of first rocking bar is fixed in horizontal plane direction, so that the both ends of first rocking bar can shake around described first in the horizontal plane
The middle part of bar rotates；
Further include the second rocking bar, first end connects second motor, and second end connects the rotor of second steering engine, described
The middle part of second rocking bar is fixed in horizontal plane direction, so that the both ends of second rocking bar can shake around described second in the horizontal plane
The middle part of bar rotates.
4. unmanned vehicle according to claim 2, which is characterized in that
The first motor and the rotation direction of second motor are on the contrary, so that first rotor and second rotor
Rotation direction is opposite.
5. unmanned vehicle according to claim 2, which is characterized in that
Further include controller, connects the first motor, second motor, first steering engine, second steering engine, be used for
Control the rotating speed of the first motor and second motor, and the deflection of control first steering engine and second steering engine
Angle.
6. unmanned vehicle according to claim 5, which is characterized in that
Further include sensor, connects the controller, the flight parameter for obtaining the unmanned vehicle, and by the flight
Parameter is sent to the controller；
The controller is additionally operable to adjust the state of flight of the unmanned vehicle according to the flight parameter.
7. unmanned vehicle according to claim 6, which is characterized in that
Further include memory, for storing the target flight parameter planned in advance；
The controller is additionally operable to the flight parameter that the sensor obtains being compared with the target flight parameter, to
The state of flight of the unmanned vehicle is adjusted in real time.
8. unmanned vehicle according to claim 1, which is characterized in that
First rotor and second rotor include the blade of four settings that are centrosymmetric, each blade and horizontal plane
It is in setting angle to tilt, and the inclined direction of the blade of the blade of first rotor and second rotor is opposite.
9. unmanned vehicle according to claim 1, which is characterized in that
First alar part and second alar part include the first extension and the second extension, wherein described first extends
Portion connects the fuselage main body, and plane where first extension connects horizontal by set angle, second extension
First extension is connect, plane where second extension is parallel with horizontal plane.
10. unmanned vehicle according to claim 1, which is characterized in that
Further include undercarriage, is arranged in the bottom of the fuselage main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721920971.3U CN207902745U (en) | 2017-12-29 | 2017-12-29 | Unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721920971.3U CN207902745U (en) | 2017-12-29 | 2017-12-29 | Unmanned aerial vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN207902745U true CN207902745U (en) | 2018-09-25 |
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ID=63566006
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721920971.3U Active CN207902745U (en) | 2017-12-29 | 2017-12-29 | Unmanned aerial vehicle |
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| Country | Link |
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| CN (1) | CN207902745U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110733624A (en) * | 2019-01-23 | 2020-01-31 | 杭州零零科技有限公司 | Unmanned flight system and control system for unmanned flight system |
| CN112173071A (en) * | 2020-11-26 | 2021-01-05 | 尚良仲毅(沈阳)高新科技有限公司 | Unmanned aerial vehicle and cross plate mechanism and control method thereof |
| WO2022052644A1 (en) * | 2020-09-11 | 2022-03-17 | 广州极飞科技股份有限公司 | Unmanned aerial vehicle |
-
2017
- 2017-12-29 CN CN201721920971.3U patent/CN207902745U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110733624A (en) * | 2019-01-23 | 2020-01-31 | 杭州零零科技有限公司 | Unmanned flight system and control system for unmanned flight system |
| CN110733624B (en) * | 2019-01-23 | 2021-09-28 | 杭州零零科技有限公司 | Unmanned flight system and control system for unmanned flight system |
| WO2022052644A1 (en) * | 2020-09-11 | 2022-03-17 | 广州极飞科技股份有限公司 | Unmanned aerial vehicle |
| CN112173071A (en) * | 2020-11-26 | 2021-01-05 | 尚良仲毅(沈阳)高新科技有限公司 | Unmanned aerial vehicle and cross plate mechanism and control method thereof |
| CN112173071B (en) * | 2020-11-26 | 2021-03-23 | 尚良仲毅(沈阳)高新科技有限公司 | Unmanned aerial vehicle and cross plate mechanism and control method thereof |
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Address after: 22nd floor, building C1, Nanshan wisdom Park, 1001 Xueyuan Avenue, Nanshan District, Shenzhen, Guangdong 518000 Patentee after: Shenzhen UBTECH Technology Co.,Ltd. Address before: 22nd floor, building C1, Nanshan wisdom Park, 1001 Xueyuan Avenue, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: Shenzhen UBTECH Technology Co.,Ltd. |
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Effective date of registration: 20231208 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 22nd floor, building C1, Nanshan wisdom Park, 1001 Xueyuan Avenue, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: Shenzhen UBTECH Technology Co.,Ltd. |